chenlin/Mujoco_WASM
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229 Commits

Author SHA1 Message Date
Meghha Dhoke 1bf90af0e0 Bumping mjVERSIONSTRING from 3.1.6 to next version 3.1.7 
PiperOrigin-RevId: 639959152
Change-Id: I7b88bae6ea56b0173f00c6f0899ba4a156614f01
 2024-06-04 15:27:47 +01:00
Erik Frey 255a59487c Corrects function reference in class comments. 
PiperOrigin-RevId: 637070006
Change-Id: I0d9dcf0401a107de67cd0a663df6c876287ba772
 2024-05-24 16:53:56 -07:00
Yuval Tassa 65d4f04cd4 Add some missing const qualifiers. 
PiperOrigin-RevId: 632463634
Change-Id: Id3e3e53371f8ed53d970ad7c471bbefd2a70cf5a
 2024-05-10 05:20:37 -07:00
Yuval Tassa 02d015458c Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51 
PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
 2024-05-10 04:52:43 -07:00
Meghha Dhoke 4eca3b048d Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6 
PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
 2024-05-07 14:11:38 -07:00
Yuval Tassa 8ebc9ed2c8 Add mjModel.ngravcomp, number of bodies with nonzero gravcomp attribute. 
PiperOrigin-RevId: 627087335
Change-Id: Ie85ae4150962463b8a8c8435fec068c44877aa16
 2024-04-22 10:45:43 -07:00
Yuval Tassa 546a27ca72 Fix memory allocation error when memory size is larger than 2G. Fixes #1606 
PiperOrigin-RevId: 627058355
Change-Id: Iebef647a0107d1f112a876d705f5b3ea888b4a41
 2024-04-22 09:15:46 -07:00
Yuval Tassa caf215e342 Add metallic and roughness scalar attributes to materials. 
Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.

PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
 2024-04-22 07:39:06 -07:00
Yuval Tassa 0cd28d2423 Add light radius attribute. 
Also fix bug: light defaults were not being saved.

PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
 2024-04-15 17:55:15 -07:00
Yuval Tassa 7b3f1a0261 Add mjModel.mesh_scale: scaling applied to asset vertices. 
PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
 2024-04-15 14:26:06 -07:00
Gabe Oppenheimer 225619c964 Update MuJoCo internal version to be the external version +1 
PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
 2024-04-10 14:32:54 -07:00
Yuval Tassa 5a365603f8 Add mju_euler2Quat. 
PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
 2024-04-10 06:02:50 -07:00
Yuval Tassa 5d26b50fce Remove native sensor noise sampling. 
PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
 2024-03-28 15:33:03 -07:00
Yuval Tassa 47ba72ea59 Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy. 
PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
 2024-03-28 14:01:52 -07:00
Alessio Quaglino bda03af49a Add childclass support to frames. 
PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
 2024-03-13 11:31:22 -07:00
Meghha Dhoke 106453fa2b Updated version number to be (v3.1.4) ahead of current release (v3.1.3) 
PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
 2024-03-06 09:07:25 -08:00
Copybara-Service 6b7d714291 Merge pull request #1450 from v-r-a:angmomMat 
PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
 2024-03-05 07:35:15 -08:00
Saran Tunyasuvunakool b04de39e4e Fix false positives from mjData stack leakage detection. 
When built and run under address sanitizer (asan), `mj_markStack` and `mj_freeStack` are instrumented to detect leakage of mjData stack frames. When the compiler inlines several callees that call into mark/free in the same function, this instrumentation requires that the compiler retains separate mark/free calls for each original callee.

This change adds necessary optimization barriers to ensure that this is the case.

PiperOrigin-RevId: 609373993
Change-Id: I30dfd998fb66530735348e9715d92ee713f28210
 2024-02-22 08:03:51 -08:00
Kyle Bayes a4a621f6e3 Add checksums (used as a timestamp) to VFS. 
Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.

PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
 2024-02-21 02:25:36 -08:00
Nimrod Gileadi f1d4f8f0a1 Test that mj_resetDataKeyframe treats negative keyframe IDs as a normal reset. 
PiperOrigin-RevId: 607655812
Change-Id: Ia9bb1031468f04e8f9563b9228a46983356dafef
 2024-02-16 05:09:05 -08:00
Yuval Tassa b6873ec8a2 Move mjModel.mesh_{pos,quat} before mesh_pathadr so all attributes related to original asset data are next to each other. 
PiperOrigin-RevId: 606277473
Change-Id: Ia4f6df552192c8a2847126975b6a1a31df63cf65
 2024-02-12 09:37:48 -08:00
Meghha Dhoke f763254a00 Updating Mujoco Release version number to v3.1.3 
PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
 2024-02-05 15:59:20 -08:00
Yuval Tassa fea7c10b95 Add bvhactive flag to visual/global. Fixes #1279. 
PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
 2024-01-19 02:59:56 -08:00
Yuval Tassa 2feefbc5d2 Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID. 
PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
 2024-01-17 10:54:23 -08:00
Yuval Tassa 67a00a3a51 Rename mjMAXTHREADS -> mjMAXTHREAD (consistency). 
PiperOrigin-RevId: 599130235
Change-Id: Ia80379b8ae0574a7cd8fbc668657f806e90d6c5c
 2024-01-17 04:33:44 -08:00
Yuval Tassa 6860e953ed Improve docstring of mju_eig3. 
PiperOrigin-RevId: 595380013
Change-Id: Ia3663c11ff1cd50a35d5d72ba01e09ff3d9054d0
 2024-01-03 06:04:08 -08:00
Google DeepMind 7fb448613f Post release version update: Update to V3.1.2 
PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
 2023-12-18 15:03:37 -08:00
Nimrod Gileadi 7cb7c87f70 Fix a few issues with the passive viewer. 
1. Create an arena for the mjData instance used by the passive viewer visualization.

When using the passive viewer, stuff gets copied from the real mjData into a minimal struct.
That struct didn't have a stack, and now visualization for Flex does stack allocs.

2. Add missing a missing field in scene state for flex visualization.

3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer.

4. Add some locks in places where the render thread and Simulate::Sync collide.

This fixes #1280.

PiperOrigin-RevId: 591891676
Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
 2023-12-18 07:33:19 -08:00
Yuval Tassa 38fa756a20 Add mjGEOM_LINEBOX, used in visualization of collision trees. 
PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
 2023-12-15 05:36:35 -08:00
Google DeepMind c2c76195dd Updating Mujoco Release version number to v3.1.1 
PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
 2023-12-13 14:26:08 -08:00
Google DeepMind fcebdf4d09 Update MuJoCo to v3.1.0 for release. 
PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
 2023-12-12 10:37:47 -08:00
Yuval Tassa 28a9e6d9a2 Add mjNOBJECT value to mjtObj enum. 
PiperOrigin-RevId: 590164716
Change-Id: I500741aa4fb97fe2c4f5d2086188bb2c9fdfd1a0
 2023-12-12 05:15:00 -08:00
Yuval Tassa 1885d518eb Use the string (rot:lin) in mjdata.h to clarify where 6D motion vectors use the Featherstone convention. Also add clarifying text to the appropriate note in the documentation. 
Fixes #982.

PiperOrigin-RevId: 589556339
Change-Id: I3e7ff185a089715a386694321d4b89d09d481cf9
 2023-12-10 03:27:44 -08:00
Matthew Bennice c0b7b9873d Store paths for hfields, textures, and skins similar to meshes. 
PiperOrigin-RevId: 587283093
Change-Id: Ie6d8d2ecb185697a27d1b6f7fca1312df006af12
 2023-12-02 03:51:25 -08:00
Yuval Tassa 822b03446c Improve pipeline documentation, expose mj_implicit function to public header. 
PiperOrigin-RevId: 586380774
Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
 2023-11-29 10:18:57 -08:00
Alessio Quaglino 8010aad7be Add flex_elemlayer to mjvSceneState. Fixes #1193 and #1219. 
PiperOrigin-RevId: 585581657
Change-Id: Iec4da74437544184c19765a2feee1cca4c368d34
 2023-11-27 02:25:05 -08:00
Nimrod Gileadi f2025c6abf Allow plugin actuators to have activation state. 
Accept new attributes on the plugin/actuator tag:
  - dyntype
  - dynprm
  - actlimited
  - actrange
  - actearly

This addresses some of the requests in #1098.

PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
 2023-11-23 05:14:03 -08:00
Baruch Tabanpour 1554048856 Bump dev version number to 3.0.2. 
PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
 2023-11-15 12:51:04 -08:00
Alessio Quaglino e3b3f96373 Add flex_texcoordadr to mjvSceneState. Fixes #1193. 
PiperOrigin-RevId: 582630943
Change-Id: I113b135752268773e0afafe004b8f27c1e96ffc7
 2023-11-15 05:02:05 -08:00
Yuval Tassa 8a5e2b19a8 Improve mjContact documentation. Fixes #1136 
PiperOrigin-RevId: 579836970
Change-Id: Ife8dd73eecdbdaacecc1e48460cf6efcf4f7b487
 2023-11-06 07:28:51 -08:00
Yuval Tassa 5a9239e11c Improve inline documentation of mj_passive and mj_subtreeVel. 
PiperOrigin-RevId: 579808998
Change-Id: I2cff167c3813964f42a30b06f1adf38b57d62196
 2023-11-06 05:12:11 -08:00
Yuval Tassa 893c404230 Runtime disabling of actuators according to group. 
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.

- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.

https://youtu.be/H9qG9Zf2W44

Fixes #1092.

PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
 2023-10-31 16:24:38 -07:00
Google DeepMind 7e419276ca Increase maximum number of UI elements per section in Simulate. 
PiperOrigin-RevId: 578268786
Change-Id: Ia584fb1782a6f20cdb64ec13bfa0bbcb211b1165
 2023-10-31 12:36:39 -07:00
Alessio Quaglino 50843cad30 Add defaults to SDF plugin attributes. 
Expose diameter and number of teeth for the gear SDF.

PiperOrigin-RevId: 577779297
Change-Id: Iec5890ab7f39080b395cf06a76f9c2216f4f39ed
 2023-10-30 03:09:25 -07:00
Alessio Quaglino 034bb62986 Add cam_intrinsic to mjvSceneState. 
Add `frustum.xml` to engine_vis_state_test models.

Fixes #1115.

PiperOrigin-RevId: 576567292
Change-Id: I642c32a87427507580046d2d260263c689d50c99
 2023-10-25 10:17:42 -07:00
Alessio Quaglino 1a47a97040 Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114. 
Added `frustum` to `rgba` and `scale` in the `visual` section.

PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
 2023-10-25 09:08:20 -07:00
Yuval Tassa a89412bb4a Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}. 
PiperOrigin-RevId: 576493532
Change-Id: If8eda1a2bb728fe8ab91b8004f97fc729d999ad9
 2023-10-25 05:01:45 -07:00
Alessio Quaglino 01a932e052 Fix flex constraint Jacobian for edges belonging to a single body. 
PiperOrigin-RevId: 575161094
Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
 2023-10-20 02:49:34 -07:00
Saran Tunyasuvunakool 269d88ad92 Bump dev version number to 3.0.1. 
PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
 2023-10-18 15:01:21 +01:00
Erik Frey 8f9c690c85 Add MJX and bump version number to 3.0.0. 
Co-authored-by: Baruch Tabanpour <btaba@google.com>
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
 2023-10-18 10:33:29 +01:00